Systems and methods for removing debris from warehouse floors

ABSTRACT

Robots or other machines may be used for retrieving errant objects from the floor of an automated warehouse. A system can include one or more reporting methods to alert a central control to the existence and location of an object on the warehouse floor. The central control can establish a safety zone around the object to avoid contact with normal warehouse traffic (e.g., standard warehouse robots). The system can route a cleanup robot to the location to retrieve the object. The system can include a cleanup pod comprising a convertible shelving unit with a robotic arm. The cleanup pod can have a similar form factor as shelving units used for storing inventory in the warehouse, thereby enabling standard warehouse robots to lift and transport the cleanup pod to retrieve an object.

BACKGROUND

Modern inventory systems, such as those in mail order warehouses, supplychain distribution centers, airport luggage systems, and custom-ordermanufacturing facilities, include a number of complex systems, includingrobots, automated shelving systems, radio frequency identification(RFID), and automated scheduling and routing equipment. Many systems,for example, comprise robots that travel to shelving systems to retrieveitems, or the shelves themselves, and return them to a central locationfor additional processing.

Automated warehouses exist that use robots, for example, to move itemsor shelves from a storage location in the warehouse to a shippinglocation (e.g., for inventory items to be boxed and shipped). It isinevitable, however, that some items in the inventory system, trash, andother items will be dropped, misplaced, or otherwise mishandled duringnormal operations. In addition, merchandise can be damaged or destroyedwhen impacted or run over by the warehouse robots. Accurate inventoriesare also important to control costs, maintain inventory levels, and meetcustomer demand, among other things.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1A is a pictorial flow diagram of an illustrative process for usinga cleanup robot to remove objects from a warehouse floor, in accordancewith some examples of the present disclosure.

FIGS. 1B and 1C are schematic diagrams that depict components of anautomated warehouse, in accordance with some examples of the presentdisclosure.

FIGS. 2A-2E are isometric, front views of a cleaning robot retrieving anobject, in accordance with some examples of the present disclosure.

FIG. 2F is an isometric, detailed view of a gate with an edge strip onthe cleaning robot of FIGS. 2A-2E, in accordance with some examples ofthe present disclosure.

FIG. 2G is an isometric, detailed view of a gate actuator and a gate armactuator on the cleaning robot of FIGS. 2A-2E, in accordance with someexamples of the present disclosure.

FIG. 2H is an isometric, exploded view of a gate, gate arm, and gateactuator on the cleaning robot of FIGS. 2A-2E, in accordance with someexamples of the present disclosure.

FIGS. 3A-3E are side views of a cleaning robot retrieving an object, inaccordance with some examples of the present disclosure.

FIGS. 4A and 4B are isometric, front views of a cleanup pod in theraised and lowered position, respectively, in accordance with someexamples of the present disclosure.

FIG. 4C is an isometric, front view of a cleanup pod highlighting afence on the base and linear actuators, respectively, in accordance withsome examples of the present disclosure.

FIGS. 5A-5F are front views of a cleanup pod retrieving an object, inaccordance with some examples of the present disclosure.

FIG. 6 is a front, detailed view of an end effector of the cleanup podof FIGS. 5A-5F, in accordance with some examples of the presentdisclosure.

FIG. 7 is a flow diagram of a process for retrieving objects in awarehouse using a cleaning robot, in accordance with some examples ofthe present disclosure.

FIG. 8 is a flow diagram of a process for retrieving objects in awarehouse with a cleanup pod and a warehouse robot, in accordance withsome examples of the present disclosure.

FIG. 9 is a flow diagram of a process for using a warehouse robot formultiple tasks, including retrieving an object, in accordance with someexamples of the present disclosure.

DETAILED DESCRIPTION

Examples of the present disclosure relate generally to automatedwarehouses, and specifically to one or more types of devices for use inthe warehouse to retrieve items on the warehouse floor and return themto an appropriate location. In some examples, the system can comprise aninventory holder or inventory pod, similar to those used in thewarehouse for inventory, but comprising a moveable floor, or otherlifting mechanism, and a robotic arm to manipulate and remove items fromthe warehouse floor. In other examples, the system can comprise anautonomous or semi-autonomous robot or mobile drive unit, similar tothose used for moving shelving units, but with additional equipment forretrieving and removing items on the warehouse floor.

In some examples, as discussed below, the system can comprise one ormore self-powered robots for removing errant items from the warehousefloor. The cleanup robots can be similar in form factor to the warehouserobots used in the automated warehouse. In this manner, the cleanuprobots can move under and around inventory bins, or shelving units, tofacilitate travel through the warehouse. The cleanup robots can includeone or more arms and/or tools to manipulate objects onto a carrying traylocated on the cleanup robot.

In this configuration, a central control can receive a notification thatan object has been misplaced on the warehouse floor, preferably with alocation. The notification can come from warehouse robots, for example,from workers, or from reporting stations located throughout thewarehouse. The object could be merchandise that has fallen out of aninventory bin, for example, or trash. The central control can then routea cleanup robot to the reported location to retrieve the object. Thecleanup robot can then deliver the object to a worker for inspection,for example, or to a trash receptacle, as appropriate. In some examples,the central control can comprise the same central control associatedwith the automated warehouse system. In other examples, the centralcontrol can comprise a separate system in communication with theautomated warehouse system.

In other examples, the system can comprise a cleanup pod. The cleanuppod can comprise a robotic shelving unit with a similar form factor tothe inventory holders located in the warehouse. In this manner, thecleanup pod can be conveniently stored alongside inventory holders andcan be carried and transported by a warehouse robot. The cleanup pod cancomprise a robotic arm and a carrying tray disposed on an upper frame,with the robotic arm enabling the cleanup pod to manipulate objects ontothe carrying tray. The cleanup pod can comprise a base slideably engagedwith the upper frame giving the cleanup pod a raised position and alowered position. In the raised position, the cleanup pod can be carriedby a warehouse robot. In the lowered position, the robotic arm andcarrying tray can be disposed substantially at the warehouse floor levelto retrieve objects.

In this configuration, the central control can again receive anotification that an object has been misplaced on the warehouse floor,preferably with a location. The central control can then route awarehouse robot to retrieve a cleanup pod and deliver it to the reportedlocation to retrieve the object. The cleanup pod can then lower andretrieve the object with the robotic arm. The warehouse robot can thenreturn and retrieve the cleanup pod and deliver it, and the object, to aworker for inspection, for example, or to a trash receptacle, asappropriate.

As shown in FIG. 1A, at 110, recovery of an errant object 185 can startwith a user 102 or a warehouse robot 120 sending a notification to thecentral control 115, e.g., a management module. A user 102 can send thenotification via the reporting station 105, for example. The warehouserobots 120, on the other hand, can be equipped with imaging devices,e.g., cameras, or other sensors enabling them to identify objects on thewarehouse floor. Because the warehouse robots 120 are already incommunication with the central control 115 (e.g., via a wirelessnetwork), they can send a message directly to the central control 115.In some examples, the notification can contain an approximate locationif the object 185. In other examples, the user 102 or warehouse robot120 may be able to provide a grid 175 a number or a fiducial number 175,which can provide a more accurate location for the object 185.

At 125, the central control 115 can route a cleanup robot 160 to theapproximate location of the object. As described herein, in some cases,prior to sending the cleanup robot 160, the central control 115 canestablish a safety zone or area and/or reroute traffic around the object185. In other embodiments, the central control 115 can also overridedesignated travel directions or use other means to shorten/expedite thecleanup robot's 160 travel time.

At 135, the cleanup robot 160 can retrieve the object 185. In someexamples, upon arriving on the scene, the cleanup robot 160 can locateand identify the actual location of the object 185 using imaging devicesor other sensors. In some cases, the central control 115 can adjust orredesignate the safety zone or area based on the updated, actuallocation of the object 185.

At 145, the central control 115 can route the cleanup robot 160 to apredetermined location. If the object 185 is inventory, for example, thecleanup robot 160 can be routed to a work station to enable a worker toinspect the object 185 and/or take other actions with respect to theobject. In some cases, the object 185 may have been run over bywarehouse robots 120, forklifts, or other equipment and may no longer besaleable. In other cases, the object 185 may be substantially undamagedand can be restocked for later sale. In still other embodiments, theobject 185 can be trash and the predetermined location can comprise atrash or recycling bin or area, for example.

At 155, the cleanup robot 160 can be routed to a home location oranother location. In some examples, the cleanup robot 160 can be shapedand sized to fit under standard inventory holders or pods 130, as shown.In other examples, the cleanup robot 160 can be routed to a dockingstation, or other designated parking area, to be recharged or otherwisemaintained. In still other examples, the cleanup robot 160 can be routedto retrieve another object 185 from the warehouse floor. Of course,while FIG. 1A is shown utilizing a cleanup robot 160, as discussedbelow, a similar routine could be used to retrieve an object using acleanup pod 180 and at least one warehouse robot 120.

FIG. 1B illustrates an inventory control system 100. The inventorycontrol system 100 can comprise a management module, or central control115, one or more mobile drive units, or warehouse robots 120, one ormore inventory containers, pods, or holders 130, and one or moreinventory work stations 150. The warehouse robots 120 can transport theinventory holders 130 between points within a warehouse 170 on theirown, or in response to commands communicated by the central control 115.Each inventory holder 130 can store one or more types of inventory items140. As a result, the inventory control system 100 is capable of movinginventory items 140 between locations within a workspace, such as astorage facility or warehouse 170 to facilitate the entry, processing,and/or removal of inventory items 140 from inventory control system 100and the completion of other tasks involving the inventory items 140.

The central control 115 can assign tasks to the appropriate componentsof the inventory control system 100 and coordinate operation of thevarious components in completing the tasks. These tasks may relate bothto the movement and processing of inventory items and the management andmaintenance of the components of inventory control system 100. Thecentral control 115 may assign portions of the warehouse 170, forexample, as parking spaces for the warehouse robots 120, the scheduledrecharge or replacement of warehouse robot 120 batteries, the storage ofinventory holders 130, cleanup robots 160, or cleanup pods 180, or anyother operations associated with the inventory control system 100 andits various components.

The central control 115 may select components of the inventory controlsystem 100 to perform these tasks and communicate appropriate commandsand/or data to selected components to facilitate completion of theseoperations. Although shown in FIG. 1B as a single, discrete component,the central control 115 may represent multiple components and mayrepresent, or include, portions of the warehouse robots 120, inventoryholders 130, cleanup robots 160, cleanup pods 180, or other elements ofthe inventory control system 100. As a result, any or all of theinteraction between a particular warehouse robot 120 and the centralcontrol 115 that is described below may, for example, representpeer-to-peer communication between that warehouse robot 120 and one ormore other warehouse robots 120, or may comprise internal commands basedon memory in the warehouse robot 120, for example.

As mentioned above, the warehouse robots 120 can be used to moveinventory holders 130 between locations within the warehouse 170. Thewarehouse robots 120 may represent many types of devices or componentsappropriate for use in inventory control system 100 based on thecharacteristics and configuration of inventory holders 130 and/or otherelements of inventory control system 100. In a particular embodiment ofinventory control system 100, the warehouse robots 120 can representindependent, self-powered devices, such as wheeled or tracked robots orrobotic carts, for example, configured to freely move about warehouse170. Examples of such inventory control systems are disclosed in U.S.Patent Publication No. 2012/0143427, published on Jun. 7, 2012, titled“SYSTEM AND METHOD FOR POSITIONING A MOBILE DRIVE UNIT,” and U.S. Pat.No. 8,280,547, issued on Oct. 2, 2012, titled “METHOD AND SYSTEM FORTRANSPORTING INVENTORY ITEMS,” the entire disclosures of which areherein incorporated by reference.

In other examples, the warehouse robots 120 can comprise track guidedrobots configured to move inventory holders 130 along tracks, rails,cables, a crane system, or other guidance or support elements traversingthe warehouse 170. In this configuration, the warehouse robot 120 mayreceive power, communications, and/or support through a connection toguidance elements such as, for example, a powered rail, slot, or track.Additionally, in some examples of the inventory control system 100, thewarehouse robot 120 may be configured to utilize alternative conveyanceequipment to move within warehouse 170 and/or between separate portionsof warehouse 170.

Additionally, the warehouse robots 120 may be capable of communicatingwith the central control 115 to receive tasks, inventory holder 130assignments, transmit their locations or the locations of otherwarehouse robots 120, or exchange other suitable information to be usedby central control 115 or warehouse robots 120 during operation. Thewarehouse robots 120 may communicate with central control 115 using, forexample, wireless, wired, or other connections. In some examples, thewarehouse robots 120 may communicate with central control 115 and/oreach other using, for example, 802.11 specification wirelesstransmissions (e.g., b/g/n), Bluetooth, radio frequency (RF), InfraredData Association (IrDA) standards, or other appropriate wirelesscommunication protocols.

In other examples, such as in an inventory control system 100 usingtracks, the tracks or other guidance elements (e.g., slots or rails)along which a warehouse robot 120 moves may be wired to facilitatecommunication between the warehouse robot 120 and other components ofinventory control system 100. Furthermore, as noted above, the warehouserobot 120 may include components of the central control 115 such as, forexample, processors, modules, memory, and transceivers. Thus, for thepurposes of this description and the claims that follow, communicationbetween central control 115 and a particular warehouse robot 120 mayalso represent communication between components within a particularwarehouse robot 120. In general, the warehouse robots 120 can bepowered, propelled, and controlled in many ways based on theconfiguration and characteristics of a particular inventory controlsystem 100.

The inventory holders 130 are used to store inventory items and caninclude additional features as part of the inventory control system 100.In some examples, each of the inventory holders 130 can include multipledividers to create multiple bays or bins within the inventory holder130. In this configuration, each inventory holder 130 can store one ormore types of inventory items 140 in each bay or bin (e.g., eachinventory holder 130 may store the same inventory item 140 in all baysor bins, or different inventory items 140 in each bay or bin, or have nobays or bins and store just one type of item 140). Additionally, inparticular examples, inventory items 140 may also hang from hooks orbars within, or on, the inventory holders 130. In general, the inventoryholders 130 may store inventory items 140 in any appropriate mannerwithin the inventory holders 130 and/or on the external surface ofinventory holders 130.

The inventory holders 130 can be configured to be carried, rolled,and/or otherwise moved by the warehouse robots 120. In some examples,the inventory holders 130 may also provide propulsion to supplement thatprovided by the warehouse robot 120 when moving multiple inventoryholders 130, for example. Additionally, each inventory holder 130 mayinclude a plurality of sides, and each bay or bin may be accessiblethrough one or more sides of the inventory holders 130. For example, ina particular embodiment, the inventory holders 130 include four sides.In such an embodiment, bays or bins located at a corner of two sides maybe accessible through either of those two sides, while each of the otherbays or bins is accessible through an opening in one of the four sidesand an inventory holder 130 without any bays or bins may be accessiblevia all four sides. The warehouse robot 120 may be configured to rotateinventory holders 130 at appropriate times to present a particular faceand the shelves, bays, bins or dividers associated with that face to anoperator or other components of inventory control system 100 tofacilitate removal, storage, counting, or other operations with respectto inventory items 140.

In particular examples, the inventory control system 100 may alsoinclude one or more inventory work stations 150. Inventory work stations150 represent locations designated for the completion of particulartasks involving inventory items. Such tasks may include the removal ofinventory items 140, the addition, or restocking, of inventory items140, the counting of inventory items 140, the unpacking of inventoryitems 140 (e.g. from pallet- or case-sized groups to individualinventory items), the consolidation of inventory items 140 betweeninventory holders 130, and/or the processing or handling of inventoryitems 140 in any other suitable manner. The work stations 150 mayrepresent both the physical location and also any appropriate equipmentfor processing or handling inventory items, such as work benches,packing tools and supplies, scanners for monitoring the flow ofinventory items in and out of inventory control system 100,communication interfaces for communicating with central control 115,and/or any other suitable components. Inventory work stations 150 may becontrolled, entirely or in part, by human operators or may be partiallyor fully automated.

In some examples, the system 100 can also comprise one or moreinspection stations 150 a. The inspection stations 150 a can be mannedby one or more workers trained to inspect objects that have fallen outof bins, for example, and have been returned by a cleanup pod or robot,as discussed below. In some cases, the object may have been run over byother robots 120 and damaged, for example, or may otherwise beunsaleable. In this case, the worker can discard the object, forexample, or return it to the vendor for a refund, depending on thevendor agreement, among other things. In other examples, the object maybe substantially undamaged and thus, can be returned to inventory.

In operation, the central control 115 selects appropriate components tocomplete particular tasks and transmits task assignments 118 to theselected components. These tasks may relate to the retrieval, storage,replenishment, and counting of inventory items and/or the management ofwarehouse robots 120, inventory holders 130, inventory work stations150, cleanup robots 160, cleanup pods 180, and other components ofinventory control system 100. Depending on the component and the task tobe completed, a particular task assignment 118 may identify locations,components, and/or actions associated with the corresponding task and/orany other appropriate information to be used by the relevant componentin completing the assigned task.

In particular examples, the central control 115 generates taskassignments 118 based, in part, on inventory requests that centralcontrol 115 receives from other components of inventory control system100 and/or from external components in communication with centralcontrol 115. For example, in particular examples, an inventory requestmay represent a shipping order specifying particular inventory itemsthat have been purchased by a customer and that are to be retrieved frominventory control system 100 for shipment to the customer. The centralcontrol 115 may also generate task assignments 118 in response to theoccurrence of a particular event (e.g., in response to a warehouse robot120 requesting a space to park), according to a predetermined schedule(e.g., as part of a daily start-up or cleaning routine), or at anyappropriate time based on the configuration and characteristics ofinventory control system 100.

The central control 115 may, in some cases, communicate task assignments118 to a warehouse robot 120 that include one or more destinations forthe warehouse robot 120. In this vein, the central control 115 mayselect a warehouse robot 120 based on the location or state of thewarehouse robot 120, an indication that the warehouse robot 120 hascompleted a previously-assigned task, a predetermined schedule, and/orany other suitable consideration. For example, the task assignment maydefine the location of an inventory holder 130 to be retrieved, aninventory work station 150 to be visited, a storage location where thewarehouse robot 120 should park until receiving another task, or alocation associated with any other task appropriate based on theconfiguration, characteristics, and/or state of inventory control system100, as a whole, or individual components of inventory control system100.

As part of completing these tasks, the warehouse robots 120 may dockwith various inventory holders 130 within the warehouse 170. Thewarehouse robots 120 may dock with inventory holders 130 by connectingto, lifting, and/or otherwise interacting with inventory holders 130such that, when docked, the warehouse robots 120 are coupled to theinventory holders 130 and can move inventory holders 130 within thewarehouse 170. While the description below focuses on particularexamples of warehouse robots 120 and inventory holders 130 that areconfigured to dock in a particular manner, alternative examples ofwarehouse robots 120 and inventory holders 130 may be configured to dockin any manner suitable to allow warehouse robots 120 to move inventoryholders 130 within warehouse 170.

Components of inventory control system 100 may provide information tothe central control 115 regarding their current state, the state ofother components of inventory control system 100 with which they areinteracting, and/or other conditions relevant to the operation ofinventory control system 100. This may allow central control 115 toutilize feedback from the relevant components to update algorithmparameters, adjust policies, or otherwise modify its decision-making torespond to changes in operating conditions or the occurrence ofparticular events. In addition, while central control 115 may beconfigured to manage various aspects of the operation of the componentsof inventory control system 100, in particular examples, the componentsthemselves may also be responsible for some decision-making relating tocertain aspects of their operation, thereby reducing the processing loadon central control 115.

In some examples, the system 100 can also comprise one or more cleanuprobots 160. The cleanup robots 160 can comprise, for example, modifiedor purpose built robots configured to retrieve misplaced items from thewarehouse floor. In some examples, the cleanup robots 160 can be parkedin designated or known locations in the warehouse 170. In otherexamples, the cleanup robots 160 can roam the warehouse floor in randomor set patterns looking for misplaced items from the warehouse floor.

In still other examples, the system 100 can also comprise cleanup pods180, with similar form factors as inventory holders 130, but withadditional functionality. In this manner, when an obstacle such as, forexample, dropped merchandise, trash, or clothing, is located in thewarehouse 170, the location of the obstacle can be provided by one ofthe warehouse robots 120, for example, or a worker in the warehouse 170.The central control 115 can then send a warehouse robot 120 to retrievethe cleanup pod 180 and place the cleanup pod 180 near the obstacle forremoval. Mechanisms on the cleanup pod 180 can retrieve the obstacle,place it on an internal shelf, and then the warehouse robot 120 canreturn the cleanup pod 180 to a predetermined location, or to a workstation 150 for inspection or restocking, for example.

In some examples, travel by the robots in the warehouse 170 can be“one-way.” In other words, the aisles of the warehouse 170 can havedesignated travel directions 165. In this manner, incidents, such ashead-on collisions can be minimized. In addition, excessive maneuveringto route warehouse robots 120 around other warehouse robots 120 can bereduced. In some examples, however, the designated travel directions 165can be overridden to facilitate the cleanup process (i.e., a cleanuprobot 160 can be authorized to travel the “wrong way” to shorten itsroute).

In some examples, the system 100 can also comprise one or more reportingstations 105. As shown, the reporting stations 105 can be located inconvenient locations throughout the warehouse 170 to enable an object185 to be quickly reported to the central control 115 by a warehouseworker. In some examples, the reporting station 105 can comprise a PC,laptop, touchscreen device, or button. In some examples, the reportingstation 105 can enable the worker to enter a location (e.g., a grid 175a or fiducial marker 175 number, as discussed below) to provide anapproximate location of the object. In other embodiments, the reportingstation 105 can be a simple button, with a relatively large number ofreporting stations 105 throughout the warehouse 170. In this manner, theapproximate location of the object can be provided simply by thelocation of the button. Of course, the resolution of this systemincreases with an increase in the number of reporting stations.

In some examples, as shown in FIG. 1C, the warehouse 170 floor can alsocomprise a plurality of markers, or fiducial markers 175, to enable thewarehouse robots 120 and cleanup robots 160 to establish their locationin the warehouse. Because the warehouse robots 120 and cleanup robots160 are generally low enough to travel under inventory holders 130(i.e., to be able to lift them), in some examples, the fiducial markers175 can continue under the inventory holders 130, substantially spanningthe entire floor. In some examples, the area between the fiducialmarkers 175 can define grid areas 175 a with a fiducial marker 175 ateach corner. When attempting to locate a particular inventory holder130, therefore, the warehouse robot 120 can locate the fiducial marker175, or grid 175 a, associated with the inventory holder's 130 locationby scanning the floor with a downward facing imaging device, scanner orother sensor and then confirm that it is in the right location byimaging, scanning or sensing the bottom of the inventory holder 130 withan upward facing imaging device, scanner or other sensor. In someexamples, the inventory holder 130 and/or the fiducial markers 175 caninclude 2D or 3D bar codes, RFID tags, or other identifiers.

When an object 185, such as merchandise or trash, for example, isidentified in the warehouse 170 by a worker or a warehouse robot 120,its location can be provided to the central control 115 (or a separatecleanup system) identifying the obstacle's grid 175 a or fiducial marker175. Based on this information, the central control 115 can then “close”a work zone 190 around the object 185. In some examples, the work zone190 can define a number of grids 175 a or fiducial markers 175 aroundthe object 185. As shown, in some cases, the work zone 190 can comprisethe nine fiducial markers 175 under and around the obstacle (i.e., thefiducial marker 175 closest to the object 185, and the eight adjacentfiducial markers 175). In other examples, the work zone 190 can comprisefour grids 175 a around the obstacle. Of course, the work zone 190 canbe changed based on, for example, warehouse robot 120 speed, object 185size, and traffic levels. Regardless, once established, the centralcontrol 115 can reroute warehouse robots 120 as necessary to avoid thework zone 190.

The central control 115 can then route a cleanup robot 160 or awarehouse robot 120 and the cleanup pod 180 to the location to retrievethe obstacle. In some examples, because the central control 115 hasestablished the work zone 190, the designated travel direction 165 canbe ignored/overridden to enable the cleanup robot 160 or cleanup pod 180to travel the “wrong way” down an aisle. In other words, if the workzone 190 encompasses the designated travel direction 165, then thecleanup robot 160 is free to move down that portion of the aisle.Otherwise, in some examples, the central control 115 can temporarilyoverride the designated travel direction 165 to provide a shorter pathfor the cleanup robot 160 or cleanup pod 180 to the object 185. This canenable the cleanup robot 160, or warehouse robot 120 and cleanup pod180, to travel directly to the object 185, reducing travel time anddistances.

In some examples, the cleanup robots 160 and/or cleanup pods 180 can besubstantially autonomous, with the central control 115 merely providinglocation and/or routing information. In other examples, the centralcontrol 115 can route the cleanup robots 160 and/or cleanup pods 180 tothe work zone 190 and then control of the cleanup robots 160 and/orcleanup pods 180 can revert to an operator, e.g., for teleoperation.

To this end, in some examples, the warehouse 170 can further comprise acontrol room 178 comprising one or more control terminals 188. Thecontrol terminals 188 can comprise, for example, a computer, laptop,tablet, or other device to enable the operator to remotely control thecleanup robots 160 and/or cleanup pods 180. In this manner, the controlterminals 188 can comprise a video screen to receive images from thecleanup robots 160 and/or cleanup pods 180 and a control device, such asa joystick, to control the motion of the cleanup robots 160 and/orcleanup pods 180. Motion control can include, for example, moving thecleanup robot 160 around within the work zone 190 and/or controlling arobotic arm, pincer, or other means for retrieving the object, some ofwhich are discussed below.

The control terminals 188 can be connected via a wireless connection,for example, and can be routed through, or independently of, the centralcontrol 115. In addition, because normal warehouse traffic (e.g.,warehouse robots 120) is routed around the work zone 190, the operatoris free to move the cleanup robot 160, for example, within the work zone190 regardless of designated travel directions 165.

In some examples, as shown in FIGS. 2A-2E, the cleanup robot 160 cancomprise a number of features to enable the retrieval and removal ofobjects 185. The cleanup robots 160 can comprise, for example, one ormore drive units 205 to move the cleanup robot 160 in the warehouse 170.The drive units 205 can comprise, for example, one or more wheels,balls, tracks, or air cushions. As mentioned above, in some examples,the drive units 205 can be sized and shaped to follow a guidance trackin the warehouse 170. The guidance track can comprise, for example, atrain track, magnetic stripe, painted stripe, or electronic or visualmarkers. In this configuration, the drive units 205 can use optical,magnetic, or other sensors to follow the track. In other examples, thedrive units 205 can comprise one or more drive wheels 205 a and one ormore drive motors 205 b, or other means, and include a pin, scanner, orcamera to follow a slot, magnetic or electrical pathway, or fiducialmarkers 175 in or on the floor of the warehouse 170.

To prevent accidents, detect faults, and provide guidance andnavigation, the cleanup robots 160 can also be equipped with a number ofsensors. In some examples, the cleanup robots 160 can comprise one ormore imaging devices or cameras 210. The camera 210 can enable thecleanup robot 160 to detect other warehouse robots 120, cleanup robots160, and objects 185. The cleanup robots 160 can also comprise one ormore additional sensors, including, but not limited to, bump sensors,proximity sensors, laser scanners, etc. The camera 210 can comprise, forexample, a video camera, infrared or infragreen camera, or ultraviolet(UV) camera. In some examples, the cleanup robots 160 can also compriseadditional equipment such as, for example, global positioning system(GPS) receivers and wireless local area network (WLAN) or cellulartransceivers.

The cleanup robots 160 can also comprise a processor 220, a memorymodule 225, and a wireless transceiver 230. The processor 220 cancomprise, for example, a PC, laptop, field programmable gate array(FPGA), or application specific integrated chip (ASIC). The memorymodule 225 can comprise one or more types of volatile or non-volatilememory including, but not limited to, random access memory (RAM), readonly memory (ROM), electrically erasable programmable read only memory(EEPROM), flash memory or other memory technology, compact disk(CD-ROM), digital versatile disks (DVD) or other optical storage,magnetic cassettes, magnetic tape, magnetic disk storage or othermagnetic storage devices, or any other medium which can be used to storethe desired information and which can be accessed by the cleanup robot160. In some embodiments, the memory module 225 may be non-transitorycomputer readable media. The wireless transceiver 230 can comprise atransceiver utilizing cellular, wireless local area network (WLAN) suchas 801.11x protocols, radio-frequency (RF), or other suitable means toenable the cleanup robot 160 to communicate with the central control115, among other things.

In some examples, the cleanup robot 160 can further comprise one or moregates 250 and a carrying tray 255. In some examples, the gates 250 cancomprise a relatively stiff, clear material such as Plexiglas®. In thismanner, the gates 250 can move objects 185 onto the carrying tray 255without obstructing the camera's view. The gates 250 can also compriseone or more gate actuators 250 a to rotate the gates 250. As shown, thegates 250 can be moved from a closed position (FIG. 2A) to an openposition (FIG. 2B) to enable an object 185 to be corralled, and thenretained, on the carrying tray 255, for example. The gate actuators 250a can comprise, for example, electric motors (including servo motors),hydraulic actuators, or pneumatic actuators.

The gates 250 can also comprise gate arms 260 to translate the gates 250from a retracted position (FIG. 2B) to an extended position (FIG. 2C).In some examples, the gate arms 260 can comprise one or more arms 260 aslideably engaged with a track 260 b mounted on the chassis of thecleanup robot 160. The gate arms 260 can further comprise one or moregate arm actuators 262 to move the arms 260 a from the retracted to theextended position. The gate arm actuators 262 can comprise, for example,electric motors (including servo motors), hydraulic actuators, orpneumatic actuators.

In some examples, as shown in FIG. 2G, the gate arm actuators 262 cancomprise a motor 262 a and a drive, pinion gear 262 b engaged with adriven, rack gear 262 c, with the latter mounted on the upper gate arm260 a. As shown in detail in FIG. 2H, the gate arms 260 can comprise anupper gate arm 260 a and a lower gate arm 260 b. The upper gate arm 260a and the lower gate arm 260 b can be slideably coupled to enable theupper gate arm 260 a (and the gate 250) to move between the extendedposition and the retracted position. In some examples, the lower gatearm 260 b can comprise a tongue 266 in slideable engagement with agroove 264 on the upper beam 260 a (or vice-versa). In some embodiments,the tongue 266 and groove 264 can be angled to prevent the upper 260 aand lower beams 260 b from becoming unintentionally disconnected.

In some examples, the upper beam 260 a and gate actuator 250 a can becoupled using an adapter arm 268. In some examples, as shown, theadapter arm 268 can be coupled to the upper beam 260 a using a fastener272 (e.g., a bolt, rivet, or pin); while in other examples, the upperbeam 260 a and adapter arm 268 can be integral (i.e., can be cast,forged, or machined from a single piece of metal). In some examples, theadapter arm 268 can also be coupled to the gate actuator 250 a using afastener 276. Of course, other means, such as a mounting bracket, cabletie, or clamps could be used and are contemplated herein. As mentionedabove, the gate actuator 250 a can comprise, for example, a servo motor,stepper motor, vacuum actuator, or other suitable rotary actuator.

In some examples, the gate actuator 250 a can also comprise a mountingadapter 274 to enable the gate 250 to be connected to the shaft of thegate actuator. The mounting adapter 274 can comprise a splined hole 274a, for example, to engage with a splined shaft on the gate actuator 250a. In some examples, the gate 250 can, in turn, be mounted to themounting adapter 274 with one or more fasteners 278. In this manner, thegate 250 can be moved between the retracted and extended positions bythe gate arms 260 and can be rotated between the open and closedpositions by the gate actuator 250 a. Of course, other mechanicalcouplings could be used and are contemplated herein.

As shown in FIG. 2A, as the cleanup robot 160 approaches the location ofthe object 185, it can stop at an appropriate distance from the object185. The cleanup robot 160 may judge this distance based on feedbackfrom the camera 210, for example, or may simply stop at the closestfiducial marker 175. As shown in FIG. 2B, the cleanup robot 160 can thenensure it is facing the object 185, open the gates 250, and lower thecarrying tray 255. As shown in FIG. 2C, the cleanup robot 160 can thenmove forward and/or extend the gate arms 260 approximately to theposition of the object 185 or beyond the position of the object 185.

As shown in FIG. 2D, the cleanup robot 160 can then close the gates 250,substantially encircling the object 185. In some examples, such as whenthe object 185 is substantially centered with respect to the cleanuprobot 160, the gates 250 can close substantially simultaneously. Inother examples, such as when the object 185 is off center, or awkwardlypositioned, the cleanup robot 160 can close the gates 250 one at a time,or in an alternating pattern, to manipulate the object 185 as the gates250 close. As shown in FIG. 2E, when the object 185 is substantiallyencircled by the gates 250, the cleanup robot 160 can move forwardand/or the gate arms 260 can retract, pulling the object 185 onto thecarrying tray 255, and then raise the carrying tray 255 off the floor.In this manner, the object 185 can be carried by the cleanup robot 160back to a predetermined location. In addition, the object 185 isretained on the carrying tray 255 by the gates 250 during transit.

In some examples, the cleanup robot 160 can also comprise one or moresensors 290 disposed in various locations on the cleanup robot 160including, but not limited to, the gates 250 and the gate arms 260. Insome examples, the sensors 290 can comprise, for example, cameras,proximity sensors, 3D depth sensors, laser scanners, bar code scanners,or other means to enable the cleanup robot 160 to inspect the object 185prior to, or during retrieval. The sensors 290 can enable the cleanuprobot 160 to read the bar code on the object 185, for example, todetermine whether it is trash or merchandise, and what type ofmerchandise it is. This can also enable the cleanup robot 160 todetermine if the object 185 is too large or awkward to be automaticallyretrieved (or retrieved at all), how to best approach retrieving theobject 185, and whether the object 185 is likely to topple or rollduring retrieval and transit, among other things. In still otherembodiments, the sensors 290 can enable the cleanup robot 160 to detectwhen one of the gates 250, for example, has come into contact with theobject 185. This can enable the cleanup robot 160 to stop andreposition, as necessary, when retrieving an object 185.

As shown in detail in FIG. 2F, in some examples, the gates 250 cancomprise a main portion 285—defining one or more slots 285 a—and an edgestrip 280. In some embodiments, as mentioned above, the main portion cancomprise a piece of curved, substantially rigid material, such asPlexiglas® or Lexan®. Of course, other configurations could be used,such as straight or multi-piece designs, depending on the shape and sizeof the objects to be retrieved, among other things.

The edge strip 280 can comprise, for example, a substantially rigidcarrier 280 a and a resilient plastic or rubber edge 280 b mounted inthe slots 285 a in the lower portion of the gates 250. As the gates 250move across an irregular surface, therefore, the edge strip 280 can bothmove up and down in the slots 285 a and deform along the bottom toconform to the warehouse floor 170. In some examples, the resilient edgestrip 280 b can comprise, for example, silicone, rubber, or plastic. Inother examples, the resilient edge strip 280 b can comprise a smoothsurface, a serrated surface, bristles, or a combination thereof. In someexamples, the carrier 280 a can comprise a plastic holder and theresilient edge strip 280 b can comprise nylon bristles. The edge strip280 can improve the interface between the floor and the gates 250 toenable the gates 250 to move thin or difficult objects such as, forexample, paper.

As shown in detail in FIG. 2G, in some examples, the carrying tray 255can comprise a forward portion 255 b and a rear portion 255 a. The rearportion 255 a can be relatively stiff (e.g., aluminum, plastic, orsteel) and can be coupled to the cleanup robot 160 with a hinge 270, orother suitable pivoting interface. This can enable the carrying tray 255to be pivoted from a raised position, in which the carrying tray 255 issubstantially parallel to the floor, and a lowered position. The forwardportion 255 b, on the other hand, can be somewhat more resilient (e.g.,plastic, silicone, or rubber) to enable the forward portion 255 b of thecarrying tray 255 to substantially conform to the floor of the warehouse170.

The cleanup robot 160 can further comprise one or more carrying trayactuators 275 to move the carrying tray 255 between the raised positionand the lowered position. In some examples, the carrying tray actuator275 can comprise a linear actuator pivotally coupled to the chassis ofthe cleanup robot 160 on a first end and the carrying tray 255 on asecond end. The carrying tray actuator 275 can comprise, for example, anelectric solenoid, a hydraulic cylinder, or a pneumatic cylinder. Whenmoved to the lowered position, therefore, the rear portion 255 a of thecarrying tray 255 pivots about the hinge 270, while the forward portion255 b deflects to conform to the floor and to provide a smoothtransition from the floor to the carrying tray 255.

As shown in FIGS. 3A-3E, in some examples, the cleanup robot 160 can bepowered by one or more energy sources 182. The energy sources 182 cancomprise, for example, batteries or capacitors. In some examples, theenergy sources 182 can comprise lead acid, lithium ion, ornickel-cadmium (NiCad) batteries. In some examples, the warehouse 170can include docking stations or other facilities to enable the energysources 182 to be replaced/recharged. In some examples, the cleanuprobots 160 may return to the docking station periodically (e.g., onceper hour) to recharge, update software, and/or perform other maintenanceoperations.

As shown in side view in FIG. 3A, as the cleanup robot 160 approachesthe location of the object 185, it can stop at an appropriate distancefrom the object 185 with the gates 250 closed and the carrying tray 255in the raised position. As shown in FIG. 3B, the cleanup robot 160 canthen ensure it is facing the object 185, open the gates 250, and lowerthe carrying tray 255. As shown, the rear portion 255 a substantiallypivots about the hinge 270, while the forward portion 255 b bends, ordeforms, to form a substantially smooth transition between the carryingtray 255 and the floor. The cleanup robot 160 can then move forwardand/or, as shown in FIG. 3C, extend the gate arms 260 a to substantiallyencircle the object 185.

As shown in FIG. 3D, the cleanup robot 160 can then close the gates 250,encircling the object 185, and retract the gate arms 260 a to pull theobject 185 onto the carrying tray 255. As shown in FIG. 3E, when theobject 185 has been sufficiently retracted onto the carrying tray 255,the carrying tray actuator 275 can pull the carrying tray 255 into theraised position. In this manner, the object 185 is retained on thecarrying tray 255 by the gates 250 and the carrying tray 255 issubstantially prevented from contacting the floor during transit.

As shown in FIGS. 4A-4B, in other embodiments, the system can comprise acleanup pod 180. The cleanup pod 180 can comprise a shelving unit,similar to an inventory holder 130, but comprising additional features.The cleanup pod 180 can be substantially rectangular, as shown, or canbe square, or many other shapes depending, for example, on the shape ofexisting shelving units in the warehouse, the space available forstoring the cleanup pod 180, and the size and shape of objects to beretrieved, among other things. If the inventory holders 130 in aparticular inventory control system are square, for example, the cleanuppod 180 can also be square to facilitate storage and transportation byexisting warehouse robots 120.

In some examples, the cleanup pod 180 can comprise a telescopingshelving structure comprising a base 405 and an upper frame 410. Thebase 405 and upper frame 410 can be in slideable engagement using, forexample, tracks, ball bearing slides, or other suitable mechanisms. Insome examples, the base 405 and/or upper frame 410 can comprise one ormore servo motors, linear actuators, or other means to move the base 405and upper frame 410 relative to each other. In some examples, the base405 can comprise a motor with a pinion gear and the upper frame 410 cancomprise a rack gear, or vice-versa.

In this manner, the cleanup pod 180 can have a raised position (FIG. 4A)in which the weight of the cleanup pod 180 is supported by the base 405and a lowered position (FIG. 4B) in which the upper frame 410 is loweredto floor level and the base 405 is raised. In the lowered position, thecarrying tray 430 and robotic arm 415, discussed below, can be loweredto the warehouse floor 435 level to enable objects 185 to be pulled ontothe carrying tray 430. In the raised position, on the other hand, spaceis provided below the cleanup pod 180 to enable a warehouse robot 120 topick up and carry the cleanup pod 180, as required.

In some examples, the cleanup pod 180 can comprise a carrying tray 430and a robotic arm 415. In some examples, the carrying tray 430 cancomprise a relatively flat surface 430 a with tapered, deformable ordownturned edges 430 b. In some examples, the flat surface 430 a cancomprise, for example, a steel, aluminum, or plastic surface that isrelatively stiff, while the edges 430 b can be somewhat more flexible.In some examples, the flat surface 430 a and deformable edges 430 b cancomprise different materials; while in other examples, the flat surface430 a and deformable edges 430 b can comprise the same material of thesame or different thicknesses. In some cases, the deformable edges 430 bcan be thinned or tapered, for example, to improve flexibility and easethe transition of objects 185 from the warehouse floor 435 to thecarrying tray 430. In this manner, when the carrying tray 430 is loweredto the warehouse floor 435, the deformable edges 430 b can conform toirregularities in the warehouse floor 435 providing a substantiallysmooth transition from the warehouse floor 435 to the carrying tray 430.

The cleanup pod 180 can also comprise a robotic arm 415. The robotic arm415, or other similar mechanism, can enable the cleanup pod 180 toretrieve objects 185 on the warehouse floor 435 within a predeterminedradius or distance of the cleanup pod 180. In some examples, as shown,the robotic arm 415 can comprise two beams 420 in slideable engagement,both mounted on a rotating turret 425. In this manner, the turret 425can enable the robotic arm 415 to rotate about the vertical y-axis andtranslate along the horizontal x-axis via the sliding beams 420. In someexamples, the robotic arm 415 can be rotatable through 360 degrees toenable the robotic arm 415 to retrieve objects 185 within reach of therobotic arm 415 regardless of their orientation to the cleanup pod 180(e.g., in front, behind, or to either side of the cleanup pod 180).

In some examples, the upper beam 420 a can be rigidly mounted to therotating turret 425, while the lower beam 420 b can be mounted on tracksin slideable engagement with the upper beam 420 a. In other embodiments,the upper beam 420 a can be in slideable engagement with the turret 425,while the lower beam 420 b is in slideable engagement with the upperbeam 420 a. This can increase the reach of the robotic arm 415, amongother things. In this manner the upper beam 420 a and/or lower beam 420b can move from a retracted position to an extended position to retrieveitems in many positions proximate the cleanup pod 180 (e.g., within thepredetermined radius or distance of the robotic arm 415). The turret 425and beams 420 can each comprise, for example, an electric, hydraulic, orpneumatic motor or actuator to provide the necessary movement. In someexamples, the turret 425 and beams 420 can each comprise one or moreservo motors to provide accurate placement of the robotic arm 415. Ofcourse, while disclosed herein with sliding beams, in still otherexamples, the robotic arm 415 could comprise, for example, telescopingarms, scissor arms, hydraulic or pneumatic rams, multi-joint arms, orother mechanisms that enable the robotic arm 415 to move between theretracted position and the extended position.

In some examples, the robotic arm 415 can further comprise an endeffector 440 rotatably mounted to the lower beam 420 b. In someexamples, as shown, the end effector 440 can comprise a vertical arm 440a with a horizontal arm 440 b, such as a brush or squeegee, mounted atthe end of the arm 440 a. In some examples, the end effector 440 canalso rotate about the vertical y-axis from the end of the lower beam 420b. In this manner, the lower beam 420 b can be extended with the endeffector 440 in line with the lower beam 420 b, for example, and thenthe end effector 440 can be rotated to partially encircle, or capture,the object 185 to retrieve it. The lower beam 420 b can then beretracted to pull the object 185 onto the carrying tray 430. In stillother embodiments, the end effector 440 can also translate along thelower beam 420 b, providing additional control.

In some examples, the cleanup pod 180 can also comprise one or moreimaging devices or cameras. In some examples, the cleanup pod 180 cancomprise one or more leg cameras 605 located on the legs of the upperframe 410, base 405, or both. In some examples, the leg cameras 605 canbe located on a first face 615 a, a second face 615 b, or both of thelegs 615 of the upper frame 410, base 405, or both. In some examples, aleg camera 605 can be mounted on each leg, one in each direction(forward, backward, right, and left) to provide a complete view aroundthe cleanup pod 180. In other embodiments, a leg camera 605 can belocated in both the first face 615 a and the second face 615 b of eachleg 615 (eight leg cameras 605 total) to, for example, providestereoscopic views in all directions or provide additional views tocompensate for a leg camera 605 that is temporarily blocked. The legcameras 605 can enable the cleanup pod 180, central control 115, or anoperator to monitor the commute to the object 185, identify the actuallocation and position of the object 185, and retrieve the object, amongother things.

In some examples, the leg cameras 605 located on the base 405 can beused during transport by a warehouse robot 120. In other words, becausethe leg cameras 605 located on the base 405 are proximate the floor 435when the cleanup pod 180 is in the raised position, they can provide afloor level view when the cleanup pod 180 is being moved by thewarehouse robot 120. When the cleanup pod 180 is in the loweredposition, on the other hand, the leg cameras 605 disposed on the upperframe, in concert with the arm cameras 625 located on the robotic arm(discussed below) can provide imagery.

In other examples, the cleanup pod 180 can also include one or more armcameras 625 located on the robotic arm 415. In some examples, this caninclude one or more arm cameras 625 mounted on the beams 420. Forinstance, in some examples, an arm camera 625 can be mounted on theupper beam 420 a, the lower beam 420 b, or both. In some examples, thecleanup pod 180 can comprise one or more cameras 625 located on thelower portion of the lower beam to provide a view from the perspectiveof the robotic arm 415. In other examples, an arm camera 625 can also bemounted on a portion of the end effector 440. The arm camera 625 can bemounted on the horizontal arm 440 b of the end effector, for example, toenable the cleanup pod 180, central control 115, or an operator a viewof the area in front of the end effector 440. This can enable theoperator to locate and manipulate the object 185 onto the carrying tray430, for example, or to avoid inventory holders 130 and other items inclose proximity to the object 185 being retrieved.

In some examples, as shown in FIG. 4C, the base 405 can further comprisea fence 405 a. The fence 405 a can comprise a lip or edge disposedaround the perimeter of the base 405. As shown, when the cleanup pod 180is in the raised position, therefore, the bottom of the fence 405 a canbe substantially even with a plane defined by the surface 430 a of thecarrying tray, while the top of the fence 405 a can be disposed abovethe plane. In this manner, objects 185 that have been retrieved and arebeing carried on the carrying tray 430 can be prevented from falling offof the cleanup pod 180.

The base 405 and the upper frame 410 can be moved between the raisedposition and the lowered position using a number of mechanisms. In someexamples, as shown, the base 405 and the upper frame 410 can be movedusing one or more linear actuators 490. In some examples, the linearactuators 490 can comprise an upper, drive portion 490 a coupled to theupper frame 410 and a lower, driven portion 490 b coupled to the base405. In this configuration, when the drive portion 490 a raises thedriven portion 490 b, the base 405 is raised off of the ground, and theupper frame 410 (and the robotic arm, etc.) is lowered to the ground. Ofcourse, other mechanisms, such as belt, chain, or gear drives, pneumaticor hydraulic cylinders, or servo motors could be used and arecontemplated herein.

In use, as shown in FIG. 5A, in the raised position, warehouse robots120 can move under, lift, and carry the cleanup pod 180 in the samemanner as with an inventory holder 130. As shown in FIG. 5B, when thewarehouse robot 120 has moved the cleanup pod 180 to within apredetermined distance of the object 185—one fiducial marker 175 or onegrid 175 a away, for example—the warehouse robot 120 can lower thecleanup pod 180 to the warehouse floor 435, with the cleanup pod 180still in the raised position. After lowering the cleanup pod 180, thewarehouse robot 120 can then move to another location (e.g., transportan inventory holder 130 to a workstation 150), while the cleanup pod 180retrieves the reported object 185.

As shown in FIG. 5C, the cleanup pod 180 can then move to the loweredposition by lowering the upper frame 410, raising the base 405, or acombination thereof. In the lowered position, in addition to loweringthe upper frame 410 to warehouse floor 435, the carrying tray 430 androbotic arm 415 are also lowered to warehouse floor 435. As mentionedabove, in some examples, the edges 430 b of the carrying tray 430 candeform slightly to form a substantially smooth interface, or ramp,between the warehouse floor 435, including any irregularities, and thecarrying tray 430.

As shown in FIG. 5D, the robotic arm 415 can rotate about the verticaly-axis to properly orient the beams 420 with the object 185. In otherwords, the turret 425 can rotate until the beams 420 are relatively inline with the object 185 based on the position of the object 185relative to the cleanup pod 180 (e.g., in front, behind, or to eitherside). Perfect alignment is not required, however, but once relativelylined up with the object 185, the upper beam 420 a and/or lower beam 420b can traverse toward the object 185 along the horizontal x-axis. Theupper beam 420 a and/or the lower beam 420 b can enable the robotic arm415 to extend past the upper frame 410 to reach the object 185 on thewarehouse floor 435.

The overall length and reach of the beams 420 can determine theplacement of the cleanup pod 180 with respect to the object. In someexamples, the upper beam 420 a and lower beam 420 b can each beapproximately the same width as the upper frame 410 or the base 405(“w”), whichever is wider. In this manner, the length of the beams 420is maximized, yet the beams 420 do not protrude from the sides of thecleanup pod 180 in transit. In this configuration, when both beams 420are moveable, as shown, the robotic arm 415 can provide a reach beyondthe base 405 and upper frame 410 of approximately 1.5 times the width ofthe upper frame 410 or base 405 (˜1.5w). Once extended, the end effector440 can be rotated to capture the object 185. As discussed below, insome examples, the end effector 440 can comprise a deformable strip 450to enable the end effector 440 to retrieve even thin or flimsy objects185, such as paper, plastic wrap or foam, for example.

As shown in FIG. 5E, the beams 420 can then be retracted, pulling theobject 185 onto the carrying tray 430. In some examples, the endeffector 440 can be manipulated during the retrieval process to steerthe object 185 as necessary. In other words, because the horizontal arm440 b can be rotated, it can be used to change the direction or positionof the object 185 as it is being pulled in to steer the object 185around obstacles or inventory holders 130, for example, or simply toalign the object 185 with the carrying tray 430. As shown in FIG. 5F,the cleanup pod 180 can then be returned to the raised position andpicked up by a warehouse robot 120.

The warehouse robot 120 can then transport the cleanup pod 180 to anappropriate location based on the object 185. If the object 185 istrash, for example, the warehouse robot 120 can take the cleanup pod 180to a trash receptacle or a work station 150 for removal by a worker. If,on the other hand, the object 185 is merchandise, the warehouse robot120 can take the cleanup pod 180 to a work station 150 to enable aworker to inspect and/or restock the object 185. If the object 185 isdamaged because it has been run over by another robot, for example, theobject 185 may be discarded, donated to charity, or returned to themanufacturer. If the object 185 is not damaged, on the other hand, theobject 185 can be restocked.

In some examples, as shown in detail in FIG. 6, the horizontal arm 440 bof the end effector 440 can further comprise a holder 445 and a brush,squeegee, or other deformable strip 450. In some examples, thedeformable strip 450 can comprise a flexible substrate, such as rubberor silicone, to enable the deformable strip 450 to bend and conform tothe floor along its length. In some examples, the deformable strip 450can be mounted to the holder 445, which can comprise a substantiallyrigid plastic or metal strip, for example, mounted to the horizontal arm440 b using a plurality of slotted mounting holes 455 and fasteners(e.g., bolts, screws, pins, or rivets). In this manner, the holder 445can move vertically within the horizontal arm 440 b, while thedeformable strip 450 can deform separately to conform to irregularitiesin the warehouse floor 435. In this manner, the end effector 440 canretrieve very thin or difficult-to-grasp items such as, for example,pieces of paper, without needing to apply undue pressure. In someexamples, the deformable strip 450 can comprise a nylon brush, rubber orsilicone strip, or other suitably flexible material.

Examples of the present disclosure can also comprise a method 700 forremoving errant objects from a warehouse floor using a cleanup robot. At705, the method 700 can begin with a notification that an object is outof place on the warehouse floor. The object can comprise many types ofobjects that have been misplaced or mishandled and are on the warehousefloor including, but not limited to, merchandise that has fallen out ofa bin, trash, order sheets, billing paperwork, or even a hat from awarehouse employee.

In some examples, the notification can be provided to the aforementionedcentral control. In other embodiments, a separate control system for thecleanup robots can be used. Regardless, the notification can be enteredby a worker who is on the floor, for example, or can be provided by awarehouse robot that has detected an object in its path. In someexamples, the warehouse can include a plurality of reporting stations toprovide a means for warehouse workers to report objects in the floor. Insome examples, the reporting stations can comprise fixed or non-fixedcomputers, tablets, smart phones, touchscreens, or other suitabletechnology to enable workers to report misplaced objects on thewarehouse floor. In some examples, as shown, the reporting stations canbe fixed terminals located in multiple locations on the warehouse floorfor this purpose. In other examples, the reporting stations can comprisecell phones, tablets, or other mobile devices carried by workers and incommunication with the central control, or management module. In someexamples, the notification can provide the location of the object byproviding, for example, a grid number or fiducial number proximate theobject. In other examples, the notification can include additionalinformation such as, for example, the approximate size or dimensions ofthe object, the type of object (e.g., paper, merchandise, trash, etc.),and the time the object was discovered.

At 710, the central control can “quarantine” a predetermined safety areaaround the object. As mentioned above, the safety area can include oneor more grids or fiducials to establish a virtual barrier around theobject. In other words, the safety area can comprise a number of gridsand/or fiducials, and the area defined by the grids or fiducials can betransmitted to the warehouse robots, for example, to route them aroundthe area. This virtual boundary can prevent robots from running over theobject, among other things, which can damage both the robots and theobject. In some examples, the size of the safety area can correspond tothe size of the object. As discussed below with reference to FIG. 9, thesafety area can remain in place until the object has been removed.

At 715, the central control can reroute traffic as necessary tofacilitate removal of the object. In some examples, this can includechanging the route of any robot that is on an intersecting route withthe safety area. In other embodiments, this can also include overridingexisting traffic patterns to provide the shortest/fastest route for thecleanup robot to reach the object. In other words, if the object is ashort distance down an aisle with a one-way traffic pattern in theopposite direction, the central control can override the traffic patternto enable the cleanup robot to take the shortest route to the object. Inthis manner, the cleanup robot can be sent a short distance in the“wrong direction” to prevent it from “going around the block” to get tothe object.

In some examples, the safety area may encompass the portion of theone-way traffic pattern, obviating the need for an override. In otherwords, if the portion of the one-way traffic pattern that is the “wrongway” is encompassed by the safety area, then no override is necessarybecause the cleanup robot is free to travel in any direction in a safetyarea anyway. In other examples, the method 700 can include establishinga second, moving safety area around the cleanup robot. Similarly to thesafety area, the moving safety area can establish a safe area around thecleanup robot enabling it to move in any direction, regardless ofestablished traffic patterns.

At 720, the central control can route a cleanup robot to the reportedlocation for the object. This can include creating a route, for example,and then sending instructions to the cleanup robot to the location. Inother embodiments, the central control can merely provide the locationof the object to the cleanup robot, which can use wireless, GPS, orcellular location systems, along with navigational software, forexample, to route itself to the object. As mentioned above, in someexamples, the central control can reroute traffic and override trafficpatterns as necessary to provide the cleanup robot with the mostefficient/quickest route. In other examples, the cleanup robot canfollow established traffic patterns to reduce traffic disruption in thewarehouse.

At 725, the robot can arrive at the reported location and scan the areafor the object. This can be done, for example, with a camera, scanner,or other sensor located on the robot. This can enable the cleanup robotto fine tune its location and position with respect to the object. Inother words, the reported location may provide only an approximatelocation and may not include the orientation of the object. In someexamples, the robot may also need to reposition itself slightly tocompensate for the dimensions of the object. In other words, someobjects may only fit on the cleanup robot widthwise or lengthwise, forexample. The robot can use a camera, scanner, or other sensor,therefore, to maneuver towards and position or orient itself relative tothe object for retrieval.

At 727, the robot can scan the object. This can include sending imageryfrom the onboard camera or other sensors to the central control foranalysis. At 730, the robot can determine if the object can be removed(automatically or otherwise) or can receive analysis from the centralcontrol to that effect. In other words, in some cases, the object may betoo bulky or heavy for the robot to carry. In other instances, theobject may have already been removed by a worker. In still other cases,the object may be stuck to the floor, badly damaged, or otherwisedifficult or impossible for the robot to retrieve. In still otherexamples, the robot may be unable to determine the shape or size of theobject or how to retrieve the object.

At 735, if the robot determines it cannot retrieve the object, it cansend a “teleoperation message” to the central control stating that it isunable to automatically retrieve the object. In this case, a worker inthe control room can take over remote operation of the robot to retrievethe object. At 737, the worker can use the cameras on the robot to viewthe scene and manipulate the gates, gate arms, and carrying tray, forexample, to maneuver the object onto the carrying tray. In some cases,the worker can use remote controls, similar to those used for radiocontrolled (RC) cars and planes, for example, in communication with therobot. At 739, if the worker successfully retrieves the object, theworker can send a message to the central control.

If the worker cannot manually retrieve the object using teleoperation,the object may then require a worker to walk out into the warehouse andphysically retrieve it, for example, or for a different tool, such as afloor sweeper to be deployed. At 740, if the robot determined that itcan retrieve the object, then the robot can send a message to thecentral control and proceed with the retrieval. As mentioned above, thiscan include “scooping” the object onto a carrying tray. Of course, othermechanical means such as a vacuum, magnet, robotic arm, or pincer couldalso be used and are contemplated herein.

At 745, regardless of the method of retrieval, the robot can then returnthe object to a predetermined location. If the object is merchandise,for example, the robot can return the merchandise to a work station 150for inspection. If the object is determined to be sufficientlyundamaged, the merchandise can be returned to the inventory holder fromwhich it came, another inventory holder or any other appropriatelocation. In other examples, if the object is trash, it can be deliveredto an appropriate area and disposed of directly, or transferred to aworker for disposal.

After returning the object, the cleanup robot can return to its normallocation or another location, for example, or be routed to retrieveanother object. In some examples, as shown in FIG. 1B, the cleanuprobots may have a central storage location when not in use. This canenable the cleanup robots to recharge, receive updates, and/or completeother maintenance items. In other examples, the cleanup robots can beconfigured to park out of the way (e.g., under the inventory holders) towait for the next assignment.

Examples of the present disclosure can also comprise a method 800 forremoving errant objects from a warehouse floor with a cleanup pod usingan existing, unmodified warehouse robot 120. At 805, the method 800 canbegin with a notification that an object is out of place on thewarehouse floor. As mentioned above, this can include a notificationfrom a warehouse robot, a worker, or other source. In some examples, thenotification can also include a timestamp and/or a location. At 810, thecentral control can establish a suitable safety area around the object.In some examples, the safety area for a cleanup pod can be larger, orcan be offset, to account for the relatively long reach of the roboticarm of the cleanup pod. Similarly, in some examples, the central controlcan establish two safety zones: a first around the object and a secondaround the cleanup pod in transit or in use.

At 815, the central control can reroute traffic as necessary tofacilitate removal of the object. Again, this can include changing theroute of any robot that is on an intersecting route with the safetyarea. This can also include overriding existing traffic patterns, asnecessary, to provide the shortest/fastest route for the cleanup pod toreach the object.

At 820, the central control can route a warehouse robot to retrieve thecleanup pod. This can include creating a route from the robot's currentlocation to the cleanup pod. In some cases, the robot may need tocomplete its current task and then be routed to pick-up the cleanup pod.At 825, once the robot has retrieved the cleanup pod, the robot can thenbe routed to the reported area of the object. In some examples, thecentral control can provide all routing information to the robot. Inother examples, some or all of the routing can be handled by systemsonboard the robot. As mentioned above, in some examples, the centralcontrol can reroute traffic and override traffic patterns as necessaryto provide the robot with the most efficient/quickest route. In otherexamples, the robot can follow established traffic patterns to reducetraffic disruption in the warehouse.

At 830, the robot can arrive at the reported location and drop off orplace the cleanup pod. In some examples, the robot can place the cleanuppod within one fiducial or one grid of the object. In other embodiments,the robot can place the cleanup pod within reach of the object, whichcan vary based on the reach of the robotic arm on the cleanup pod.

At 835, the cleanup pod can move from the raised position to the loweredposition and scan the area for the object. This can be done, forexample, with a camera, scanner, or other sensor located the legs orrobotic arm of the cleanup pod. This can enable the cleanup pod torotate the robotic arm location and position with respect to the object.In other words, while the cleanup pod may have the reported location ofthe object, the object may be behind, to either side, or ahead of thecleanup pod depending on where the robot placed the cleanup pod and thedirection from which the robot approached the area, among other things.

At 840, the cleanup pod can rotate and extend the robotic arm towardsthe object. In some examples, the cleanup pod can use the camera locatedon the robotic arm, one of more of the leg cameras, or other sensors,therefore, to maneuver the end effector up to the object for retrieval.At 842, the cleanup pod can scan the object. This can include sendingimagery from one of the onboard cameras or other sensors to the centralcontrol for analysis. In some examples, the cleanup pod can provide someonboard analysis of the object using the onboard cameras or othersensors. In some examples, the cleanup pod can send approximate shape(e.g., a rough 3D shape), relative position, or other informationassociated with the object. In some examples, the relative position cancomprise, for example, the location of the object relative to thecleanup pod (e.g., one foot in front and six inches to the right). Inother examples, the relative position can include the attitude of theobject (e.g., upright, on its side, upside down, etc.).

At 845, the cleanup pod can determine if the object can be removed(automatically or otherwise) or can receive analysis from the centralcontrol to that effect. In other words, in some cases, the object may betoo bulky or heavy for the cleanup pod to carry. In other instances, theobject may have already been removed by a worker. In still other cases,the object may be stuck to the floor, badly damaged, or otherwisedifficult or impossible for the cleanup pod to retrieve. In still otherexamples, the cleanup pod may be unable to determine the shape or sizeof the object or how to retrieve the object.

In some examples, the cleanup pod or the central control can formulate aretrieval plan. In other words, the cleanup pod or central control cancreate an algorithm, including turret, upper/lower beam, and/or endeffector movements to enable the object to be moved from the warehousefloor to the flat floor surface of the cleanup pod, for example.Examples of systems for devising similar robotic movements are disclosedin U.S. patent application Ser. No. 14/572,332 entitled, “ROBOTICGRASPING OF ITEMS IN INVENTORY SYSTEM” and U.S. patent application Ser.No. 14/572,420 entitled, “GENERATING ROBOTIC GRASPING INSTRUCTIONS FORINVENTORY ITEMS,” both filed Dec. 16, 2014. Both applications are herebyincorporated by reference in their entirety.

At 850, if the cleanup pod determines it cannot retrieve the object, itcan send a “teleoperation message” to the central control stating thatit is unable to automatically retrieve the object. In this case, aworker in the control room can take over remote operation of the cleanuppod to retrieve the object. At 857, the worker can use the cameras onthe cleanup pod to view the scene and manipulate the robotic arm, endeffector, and carrying tray, for example, to maneuver the object ontothe carrying tray. In some cases, the worker can use remote controls,similar to those used for radio controlled (RC) cars and planes, forexample, in communication with the cleanup pod. At 859, if the workersuccessfully retrieves the object, the worker can send a message to thecentral control.

If the worker cannot manually retrieve the object using teleoperation,the object may then require a worker to walk out into the warehouse andphysically retrieve it, for example, or for a different tool, such as afloor sweeper to be deployed. At 855, if the cleanup pod determined thatit can retrieve the object, then the cleanup pod can send a message tothe central control and proceed with the retrieval. As mentioned above,this can include pulling the object onto a carrying tray using therobotic arm and end effector. Of course, other mechanical means such asa vacuum, magnet, or pincer could also be used and are contemplatedherein.

At 860, regardless of whether the object was manually or automaticallyretrieved, the central control can route the same warehouse robot or adifferent warehouse robot back to the cleanup pod 180 to retrieve it. Inthis manner, the robot can be performing other duties, or simply moveout of the way, while the object retrieval is in process. At 865, therobot can then deliver the cleanup pod—and the object—to a predeterminedlocation. If the object is merchandise, for example, the robot canreturn the cleanup pod to a work station 150 to enable the object to beinspected. If the object is determined to be sufficiently undamaged, themerchandise can be returned to the inventory holder from which it came,another inventory holder, or any other appropriate location. In otherexamples, if the object is trash, it can be delivered to an appropriatearea and disposed of directly, or transferred to a worker for disposal.

At 870, the warehouse robot can then return the cleanup pod to itsnormal location or another location, for example, or be routed toretrieve another object. In some examples, as shown in FIG. 1B, thecleanup pods may have a specific storage location when not in use.Because the cleanup pods are substantially the same dimensions as theinventory holders, in some examples, the cleanup pods can simply bestored together with the inventory holders. In some examples, thecleanup pods can be recharged, updated, and otherwise maintained intheir home locations.

Due to the modularity of the cleanup pods 180 and the inventory holders130, the warehouse robots 120 can be used for multiple tasks. In someexamples, as shown in FIG. 9, a warehouse robot 120 can be used totransport a cleanup pod on scene, retrieve an inventory holder (orperform other tasks) and then return to transport the cleanup pod 180from the scene. In this manner, a single warehouse robot 120, or type ofwarehouse robot 120, can be used to perform multiple tasks.

At 905, upon receiving a notification that an object has been misplaced,the central control can route the robot to retrieve the cleanup pod. Asdiscussed above, this can include traversing the warehouse floor fromthe robot's current location to the cleanup pod's current location, therobot verifying that it has located the correct cleanup pod, orientingitself properly, and then lifting the cleanup pod for transportation.

At 910, the robot can then be routed to the reported area of the object.In some examples, the central control can provide all routinginformation to the robot. In other examples, some or all of the routingcan be handled by systems onboard the robot (e.g., using GPS or othernavigational aids). As mentioned above, in some examples, the centralcontrol can reroute traffic and override traffic patterns as necessaryto provide the robot with the most efficient/quickest route. In otherexamples, the robot can follow established traffic patterns to reducetraffic disruption in the warehouse.

At 915, the robot can arrive at the reported location and drop off orplace the cleanup pod. In some examples, the robot can place the cleanuppod within one fiducial or one grid of the object. In other embodiments,the robot can place the cleanup pod within reach of the object, whichcan vary based on the reach of the robotic arm on the cleanup pod.

At 920, the central control can then route the robot to retrieve aninventory holder. Of course, the robot could also perform other taskssuch as, for example, recharging or utilizing additional tools (e.g., afloor sweeper). At 925, after retrieving the inventory holder, the robotcan be routed to a work station. At 930, the robot can then place theinventory holder 130 at the work station to enable a worker to removeinventory for shipping, for example, or to replace inventory that hasbeen previously retrieved from the inventory floor. This can enable therobot to continue to be productive while the cleanup pod retrieves thereported object, which can take from a few seconds to a few minutes,depending on the size, orientation, and location of the object.

Similarly, at 935, while the worker is engaged with the inventoryholder, and when the cleanup pod has successfully retrieved the object,the central control can route the robot, or another warehouse robot,back to the cleanup pod to retrieve it. At 940, the robot can thendeliver the cleanup pod—and the object—to a predetermined location. Ifthe object is merchandise, for example, the robot can return the cleanuppod to a work area to enable the object to be inspected by a worker. Ifthe object is determined to be sufficiently undamaged, the merchandisecan be returned to the inventory holder from which it came, anotherinventory holder or any other appropriate location. In other examples,if the object is trash, it can be delivered to an appropriate area anddisposed of directly, or transferred to a worker for disposal.

At 945, the warehouse robot can then return the cleanup pod to itsnormal location or another location, for example, or be routed toretrieve another object. In some examples, as shown in FIG. 1B, thecleanup pods may have a specific storage location when not in use.Because the cleanup pods are substantially the same dimensions as theinventory holders, in some examples, the cleanup pods can simply bestored together with the inventory holders. In some examples, thecleanup pods can be recharged, updated, and otherwise maintained intheir home locations.

Examples of the present disclosure can also comprise a method forsetting a safety area during object retrieval. In some examples, thesafety area can remain in place for a set amount of time based on, forexample, the average cleanup time, the longest cleanup time, or acalculated cleanup time. In some examples, the calculated cleanup timecan be provided by an algorithm and can include, for example, traveltime by a cleanup robot from its location to the object, recovery time(i.e., the time required to actually pick-up the object), and/or traveltime for the cleanup robot to its next destination (e.g., a work stationor trash receptacle). In other examples, such as when using a cleanuppod, the calculated cleanup time can comprise a wait time for anavailable robot, travel time for the robot to the cleanup pod, traveltime to the object, retrieval time, travel time to the next destination(e.g., a work station or trash receptacle), and/or travel time to returnthe cleanup pod to its home location or next assignment. In any case, apredetermined amount of buffer time can also be included in thecalculation to account for minor inconsistencies in the process.

In other examples, the cleanup robot 160, cleanup pod 180, and/orwarehouse robot 120 can provide updates during the process. The cleanuprobot 160 can send messages stating, for example, when it is on the wayor on the scene, when a retrieval in process, when the retrieval iscomplete, when it is leaving the scene, when it reaches the nextdestination (e.g., a work station), and when it reaches its home or nextdestination. In some examples, the robot can also send a message statingthat it has completed retrieval, but will be unavailable for apredetermined amount of time to recharge, update, or otherwise be out ofservice.

Regardless of whether a warehouse robot 120 and cleanup pod 180 or acleanup robot 160 is used, the planning and execution of a retrieval canbe performed by the central control 115, a separate retrieval controlsystem, or an operator manually controlling the cleanup robot 160 and/orcleanup pod 180. In some examples, the planning and execution of aretrieval can be shared with the central control 115 routing a cleanuprobot 160 or cleanup pod 180 to the reported location, an operatormanually operating the cleanup robot 160 or cleanup pod 180 to retrievethe object 185, and the central control 115 routing the cleanup robot160 or cleanup pod 180 to the desired location (e.g., a work station 150or trash receptacle).

While several possible examples are disclosed above, examples of thepresent disclosure are not so limited. For instance, while a system ofmodular tools for warehouse robots is disclosed, other tools and otherrobots could be selected without departing from the spirit of thedisclosure. In addition, the location and configuration used for variousfeatures of examples of the present disclosure such as, for example, thelocation and configuration of inventory holders and cleanup pods, thetypes of robots, and the layout of the warehouse can be varied accordingto a particular warehouse, inventory, or robot that requires a slightvariation due to, for example, size or construction covenants, the typeof robot required, or weight or power constraints. Such changes areintended to be embraced within the scope of this disclosure.

The specific configurations, choice of materials, and the size and shapeof various elements can be varied according to particular designspecifications or constraints requiring a device, system, or methodconstructed according to the principles of this disclosure. Such changesare intended to be embraced within the scope of this disclosure. Thepresently disclosed examples, therefore, are considered in all respectsto be illustrative and not restrictive. The scope of the disclosure isindicated by the appended claims, rather than the foregoing description,and all changes that come within the meaning and range of equivalentsthereof are intended to be embraced therein.

What is claimed is:
 1. A cleanup pod comprising: a base; an upper framein slideable engagement with the base and comprising: a carrying tray toreceive one or more objects retrieved from a floor; and a robotic arm tomove the one or more objects from the floor to the carrying tray, therobotic arm comprising: a turret coupled to the upper frame; an upperbeam coupled to the turret; a lower beam slideably coupled to the upperbeam and moveable between a retracted position and an extended position;and an end effector to manipulate the one or more objects onto thecarrying tray; and one or more imaging devices disposed on one or moreof the base, the upper frame, and the robotic arm; wherein the base andthe upper frame are moveable relative to each other between a raisedposition and a lowered position; wherein, in the raised position, thebase is disposed proximate to the floor and defines an area sized andshaped to receive a robot to lift and carry the cleanup pod; andwherein, in the lowered position, the carrying tray is disposedproximate to the floor.
 2. The cleanup pod of claim 1, wherein at leastone of the turret and the upper beam is rotatable with respect to theupper frame.
 3. The cleanup pod of claim 2, wherein the turret isrotatably coupled to the upper frame; wherein the upper beam is inslideable engagement with the turret and moveable between a retractedposition and an extended position; wherein, in the respective retractedpositions, the upper beam and the lower beam are approximately a samewidth as the upper frame (w); and wherein, in the respective extendedpositions, the upper beam and the lower beam have a reach outside theupper frame of between approximately 0.5w and 1.5w.
 4. The cleanup podof claim 1, wherein the end effector further comprises: an arm rotatablycoupled to the lower beam; and a deformable strip to conform to thefloor; wherein the arm rotates the deformable strip to manipulate theone or more objects onto the carrying tray.
 5. The cleanup pod of claim1, wherein the one or more imaging devices comprise: one or more armimaging devices mounted on the robotic arm; and one or more leg imagingdevices mounted on a leg of at least one of the base or the upper frame.6. A cleanup pod comprising: a base; an upper frame in slideableengagement with the base and comprising: a carrying tray to receive oneor more objects retrieved from a floor; and a robotic arm to move theone or more objects from the floor to the carrying tray; and one or moreimaging devices disposed on one or more of the base, the upper frame,and the robotic arm; wherein the base and the upper frame are moveablerelative to each other between a raised position and a lowered position;wherein, in the raised position, the base is disposed proximate to thefloor and defines an area sized and shaped to receive a robot to liftand carry the cleanup pod; and wherein, in the lowered position, thecarrying tray is disposed proximate to the floor.
 7. The cleanup pod ofclaim 6, the carrying tray further comprising: a substantially flatsurface; and a deformable edge disposed on a periphery of thesubstantially flat surface; wherein, in the lowered position, thedeformable edge substantially conforms to the floor to permit slidingthe one or more objects onto the substantially flat surface.
 8. Thecleanup pod of claim 7, the base further comprising: a fence, with a topedge and a bottom edge, disposed around a periphery of the base; whereinthe bottom edge of the fence is substantially even with a plane definedby the substantially flat surface in the raised position; and whereinthe top edge of the fence is above the plane in the raised position toprevent objects from falling off the substantially flat surface.
 9. Thecleanup pod of claim 6, further comprising: one or more linear actuatorsto move the base and the upper frame relative to each other between theraised position and the lowered position.
 10. The cleanup pod of claim6, wherein the one or more imaging devices comprise one or more legimaging devices disposed on a lower portion of one or more respectivelegs of the base; wherein the one or more leg imaging devices provideimagery to a central control at least when the cleanup pod is in theraised position.
 11. The cleanup pod of claim 6, wherein the one or moreimaging devices comprise one or more leg imaging devices disposed on alower portion of one or more respective legs of the upper frame; whereinthe one or more leg imaging devices provide imagery to a central controlat least when the cleanup pod is in the lowered position.
 12. Thecleanup pod of claim 6, wherein the robotic arm further comprises: anupper beam; and a lower beam slideably coupled to the upper beam andmoveable between a retracted position and an extended position; whereinthe one or more imaging devices comprise one or more arm imaging devicesdisposed on a lower surface of the lower beam to provide imagery to acentral control when the robotic arm is in operation.